{"id":"https://openalex.org/W4416749936","doi":"https://doi.org/10.1109/iros60139.2025.11247183","title":"Bounding Distributional Shifts in World Modeling through Novelty Detection","display_name":"Bounding Distributional Shifts in World Modeling through Novelty Detection","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749936","doi":"https://doi.org/10.1109/iros60139.2025.11247183"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092973310","display_name":"Eric Jing","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Jing","raw_affiliation_strings":["Rutgers University,Department of Computer Science,New Jersey,USA,08854"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science,New Jersey,USA,08854","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068615270","display_name":"Abdeslam Boularias","orcid":"https://orcid.org/0000-0002-5587-4560"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abdeslam Boularias","raw_affiliation_strings":["Rutgers University,Department of Computer Science,New Jersey,USA,08854"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Rutgers University,Department of Computer Science,New Jersey,USA,08854","institution_ids":["https://openalex.org/I102322142"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32679758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"21311","last_page":"21317"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.20839999616146088,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.20839999616146088,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.15399999916553497,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.1005999967455864,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/novelty-detection","display_name":"Novelty detection","score":0.7074999809265137},{"id":"https://openalex.org/keywords/novelty","display_name":"Novelty","score":0.6243000030517578},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5360000133514404},{"id":"https://openalex.org/keywords/autoencoder","display_name":"Autoencoder","score":0.5199999809265137},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.48159998655319214},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.47099998593330383},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.3901999890804291},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.376800000667572},{"id":"https://openalex.org/keywords/quality","display_name":"Quality (philosophy)","score":0.3765999972820282}],"concepts":[{"id":"https://openalex.org/C2778924833","wikidata":"https://www.wikidata.org/wiki/Q7064603","display_name":"Novelty detection","level":3,"score":0.7074999809265137},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6463000178337097},{"id":"https://openalex.org/C2778738651","wikidata":"https://www.wikidata.org/wiki/Q16546687","display_name":"Novelty","level":2,"score":0.6243000030517578},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6172999739646912},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5360000133514404},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.5217999815940857},{"id":"https://openalex.org/C101738243","wikidata":"https://www.wikidata.org/wiki/Q786435","display_name":"Autoencoder","level":3,"score":0.5199999809265137},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.47099998593330383},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.3901999890804291},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.376800000667572},{"id":"https://openalex.org/C2779530757","wikidata":"https://www.wikidata.org/wiki/Q1207505","display_name":"Quality (philosophy)","level":2,"score":0.3765999972820282},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.366100013256073},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.364300012588501},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35429999232292175},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32499998807907104},{"id":"https://openalex.org/C24756922","wikidata":"https://www.wikidata.org/wiki/Q1757694","display_name":"Data quality","level":3,"score":0.3149999976158142},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3052000105381012},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.28690001368522644},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.27799999713897705},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.27730000019073486},{"id":"https://openalex.org/C51632099","wikidata":"https://www.wikidata.org/wiki/Q3985153","display_name":"Training set","level":2,"score":0.2750999927520752},{"id":"https://openalex.org/C147037132","wikidata":"https://www.wikidata.org/wiki/Q6865426","display_name":"Minimum bounding box","level":3,"score":0.26809999346733093},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.26600000262260437},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.2565000057220459}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247183","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247183","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2001524797","https://openalex.org/W2128613422","https://openalex.org/W2293078015","https://openalex.org/W2801572960","https://openalex.org/W2828337747","https://openalex.org/W2948978827","https://openalex.org/W3035311645","https://openalex.org/W3204169784","https://openalex.org/W4224220194","https://openalex.org/W4313421210","https://openalex.org/W4402354012"],"related_works":[],"abstract_inverted_index":{"Recent":[0],"work":[1,65],"on":[2],"visual":[3],"world":[4,59],"models":[5],"shows":[6],"significant":[7],"promise":[8],"in":[9,63,107,142],"latent":[10],"state":[11,36],"dynamics":[12],"obtained":[13],"from":[14,91],"pre-trained":[15],"image":[16],"backbones.":[17],"However,":[18],"most":[19],"of":[20,32,56,100,105,144],"the":[21,33,54,57,86,92,98,116,127,135],"current":[22],"approaches":[23],"are":[24],"sensitive":[25],"to":[26,40,53,66,75,89],"training":[27,39,93],"quality,":[28],"requiring":[29],"near-complete":[30],"coverage":[31],"action":[34,79],"and":[35],"space":[37],"during":[38,43,81],"prevent":[41],"divergence":[42],"inference.":[44],"To":[45,96],"make":[46],"a":[47,68,72,103,121],"model-based":[48],"planning":[49,82],"algorithm":[50],"more":[51],"robust":[52],"quality":[55],"learned":[58,87],"model,":[60],"we":[61],"propose":[62],"this":[64,101],"use":[67],"variational":[69],"autoencoder":[70],"as":[71],"novelty":[73],"detector":[74],"ensure":[76],"that":[77,134],"proposed":[78,117,136],"trajectories":[80],"do":[83],"not":[84],"cause":[85],"model":[88],"deviate":[90],"data":[94,145],"distribution.":[95],"evaluate":[97],"effectiveness":[99],"approach,":[102],"series":[104],"experiments":[106],"challenging":[108],"simulated":[109],"robot":[110],"environments":[111],"was":[112],"carried":[113],"out,":[114],"with":[115],"method":[118,137],"incorporated":[119],"into":[120],"model-predictive":[122],"control":[123],"policy":[124],"loop":[125],"extending":[126],"DINO-WM":[128],"architecture.":[129],"The":[130],"results":[131],"clearly":[132],"show":[133],"improves":[138],"over":[139],"state-of-the-art":[140],"solutions":[141],"terms":[143],"efficiency.":[146]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-11-28T00:00:00"}